On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme
(2021)
Presentation / Conference Contribution
Goff, L. K. L., & Hart, E. (2021, July). On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme. Presented at GECCO '21: Genetic and Evolutionary Computation Conference, Lille, France
We investigate a hierarchical scheme for the joint optimisation of robot bodies and controllers in a complex morphological space. An evolutionary algorithm optimises body-plans while a separate learning algorithm is applied to each body generated to... Read More about On the challenges of jointly optimising robot morphology and control using a hierarchical optimisation scheme.